CN114753891B - Self-adaptive speed stabilizing control system and method for load of ultra-high speed turbine - Google Patents
Self-adaptive speed stabilizing control system and method for load of ultra-high speed turbine Download PDFInfo
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F01—MACHINES OR ENGINES IN GENERAL; ENGINE PLANTS IN GENERAL; STEAM ENGINES
- F01D—NON-POSITIVE DISPLACEMENT MACHINES OR ENGINES, e.g. STEAM TURBINES
- F01D17/00—Regulating or controlling by varying flow
- F01D17/10—Final actuators
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F05—INDEXING SCHEMES RELATING TO ENGINES OR PUMPS IN VARIOUS SUBCLASSES OF CLASSES F01-F04
- F05D—INDEXING SCHEME FOR ASPECTS RELATING TO NON-POSITIVE-DISPLACEMENT MACHINES OR ENGINES, GAS-TURBINES OR JET-PROPULSION PLANTS
- F05D2270/00—Control
- F05D2270/01—Purpose of the control system
- F05D2270/02—Purpose of the control system to control rotational speed (n)
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Abstract
The invention provides a self-adaptive speed stabilizing control system for a load of an ultra-high speed turbine, which comprises the following components: the device comprises a rotating speed acquisition and signal conversion device, a controller and a high-speed switch valve; the turbine air inlet is provided with a high-speed switch valve, the real-time rotating speed of the turbine is collected through a rotating speed collection and signal conversion device and is used as a control feedback variable and is provided for a controller, the controller compares the real-time rotating speed of the turbine with a preset target rotating speed, and a control instruction for the high-speed switch valve is output according to a comparison result, so that the control of the air inlet flow is realized. According to the invention, the high-speed switch valve is arranged at the air inlet of the turbine, a closed-loop control loop of a 'rotational speed sampling-controller-switch valve' is built, and under the conditions that the air source power is enough, the control time delay and the response time delay parameters of the switch valve meet the requirements, the control of equivalent PWM (pulse width modulation) on the air inlet flow can be realized, so that the output power of the turbine is automatically adapted to the load requirement.
Description
Technical Field
The invention relates to a self-adaptive speed stabilizing control system and a self-adaptive speed stabilizing control method for a load of an ultra-high speed turbine, in particular to a self-adaptive speed stabilizing control system and a self-adaptive speed stabilizing control method for the load of the ultra-high speed turbine under the condition of high dynamic and random change in a larger range.
Background
The ultra-high speed turbine energy is characterized in that a gas medium generated by burning a certain gas working medium or fuel is used as a primary energy source, the ultra-high speed turbine is used as an energy conversion core element, and finally mechanical energy (turbine+mechanical transmission), hydraulic energy (turbine+pump) or electric energy (turbine) is output+generator) due to the turbine and shafting operating at very high speeds (speeds exceeding 30,000r/min or bearing DN values exceeding 8 x 10) 5 mm.r/min) with high power density (device specific power up to over 2 kW/kg), and output power typically within 100 kW.
The ultra-high-speed turbine energy is generally applied to occasions with severe requirements on the weight and the volume of the device, such as emergency rescue energy sources in the field, portable energy sources, auxiliary energy sources of aviation and spacecraft and the like. In most application occasions, the energy load working condition is stable, so that the ultra-high speed turbine can be constant power output, and the turbine rotating speed is always kept stable; in some specific occasions, the load fluctuates in a larger range, and the turbine steady speed control difficulty is great. For example, in an electromechanical actuation system, the actuator typically needs to accelerate or decelerate at maximum acceleration for a short period of time, while at rest. This causes the turbine load to exhibit a step change between a maximum and a minimum. If the running condition of the ultra-high speed turbine is not effectively controlled, the turbine speed can oscillate in a large range along with the load change, on one hand, the working efficiency of the turbine is affected, the utilization rate of primary energy is reduced, and more importantly, the risk of turbine overspeed damage is brought. Therefore, under the condition of high dynamic load change, quick and accurate load self-adaptive control is required to be implemented on the ultra-high speed turbine, so that the rotating speed is always kept relatively constant.
The steady speed control of most turbine energy sources is achieved by scaling the amount of medium gas flow driving the turbine in proportion to the load size, or inversely proportional to the turbine speed. When the system works, if the load of the turbine is increased or the rotating speed is reduced, the air inlet flow is increased; if turbine load decreases or rotational speed increases, intake air flow decreases. There are many control strategies or algorithms for implementing such control methods.
The prior art requires the use of a proportional valve (which allows continuous adjustment of the flow rate over a range of flow rates). However, the proportional valve is complex in structure, high in cost and relatively low in reliability, compared to a two-position on-off valve (the state of the valve is fully open or fully closed). In addition, control systems employing proportional valves are more complex, especially for two-component combustion systems, where it is desirable to measure the flow of both media simultaneously, on the one hand because of the need for constant speed control, and on the other hand to ensure a proper mixing ratio of the two media. Moreover, the adjustable range of turbine power is generally very limited in a proportional control valve control mode.
Disclosure of Invention
The technical solution of the invention is as follows: the system comprises a control system, a control system and a control system, wherein the control system is used for controlling the load of the ultra-high-speed turbine, and the control system is used for controlling the air inlet flow of the ultra-high-speed turbine.
The technical scheme of the invention is as follows:
an ultra-high speed turbine load adaptive steady speed control system comprising: the device comprises a rotating speed acquisition and signal conversion device (1), a controller (2) and a high-speed switch valve (3);
the turbine air inlet is provided with a high-speed switch valve (3), the real-time rotation speed of the turbine is collected through a rotation speed collection and signal conversion device (1) and used as a control feedback variable, the control feedback variable is provided for a controller (2), the controller (2) compares the real-time rotation speed of the turbine with a preset target rotation speed, and a control instruction for the high-speed switch valve (3) is output according to a comparison result, so that the air inlet flow is controlled, and the output power of the turbine is automatically adapted to the load requirement.
Further, the rotating speed acquisition and signal conversion device (1), the controller (2) and the high-speed switch valve (3) form a closed-loop control circuit.
Further, the target rotation speed is set to a rotation speed section near the rated rotation speed n0, the section boundaries being a control target rotation speed lower limit nL and a control target rotation speed upper limit nH, respectively; when the system starts to work, the high-speed switch valve is firstly opened, at the moment, the turbine rotor rises from zero, and then in each control period, a control command of the high-speed switch valve is output according to the following logic: collecting the current turbine rotation speed n, closing the valve when n is higher than nH; opening the valve when n is lower than nL; and when n is between the two, namely the current rotating speed is within the target rotating speed range, maintaining the original valve control instruction.
Further, in the process of increasing the speed, after the rotating speed exceeds the upper limit of the target rotating speed, the rotating speed is continuously increased within the time range of the sum of the control time delay tau a and the valve closing time delay tau b1, and the rising value of the rotating speed is the overshoot delta nH of the rotating speed; in the speed reduction process, after the rotating speed is lower than the upper limit of the target rotating speed, the rotating speed is continuously reduced within the time range of the sum of the control time delay tau a and the valve opening time delay tau b2, and the value of the part of the reduction is the overshoot delta nL of the rotating speed.
Further, a load feedback link is added for correcting the rotation speed control target: the upper limit and the lower limit of the target rotating speed of the turbine are not fixed values any more, but are adjusted in real time according to the current load; the adjusting method specifically comprises the following steps: when the load is increased, the upper limit and the lower limit of the target rotating speed are increased; and when the load is reduced, the upper and lower limits of the target rotating speed are reduced.
Further, when the turbine power device outputs power to the load device, an acquisition point is set in front of the load device, and a load signal of the acquisition point is acquired through the set acquisition module, wherein the load signal represents the current load.
Further, after the load feedback link is added, the initial target rotating speed is set to be a rotating speed interval near the rated rotating speed n0, and the interval boundaries are a control target rotating speed lower limit nL and a control target rotating speed upper limit nH respectively; when the system starts to work, the high-speed switch valve is firstly opened, at the moment, the turbine rotor rises from zero, and then in each control period, a control command of the high-speed switch valve is output according to the following logic: collecting the current turbine rotating speed n and a certain physical quantity I representing the current load, and correcting the current nH and nL values according to the I; when n is higher than nH, closing the valve; opening the valve when n is lower than nL; and n is between the two, and the original valve control instruction is maintained.
Furthermore, the invention also provides a self-adaptive steady speed control method for the load of the ultra-high speed turbine, which comprises the following steps:
step one: a load feedback link is added in a closed-loop control loop formed by the rotating speed acquisition and signal conversion device, the controller and the high-speed switch valve and is used for correcting a rotating speed control target;
step two: when the turbine power device outputs power to the load device, an acquisition point is arranged in front of the load device, and a load signal of the acquisition point is acquired through an acquisition module, wherein the load signal represents the current load;
step three: setting an initial target rotating speed: the initial target rotating speed is a rotating speed interval near the rated rotating speed n0, and the interval boundaries are a control target rotating speed lower limit nL and a control target rotating speed upper limit nH respectively;
step four: when the system starts to work, the high-speed switch valve is firstly opened, at the moment, the turbine rotor starts to rise from zero, then in each control period, a control command of the high-speed switch valve is output according to the control logic after the load feedback link is added, and the self-adaptive speed stabilizing control of the ultra-high-speed turbine load is realized.
In the method, a load feedback link, namely the upper limit and the lower limit of the target rotating speed of the turbine, are added and adjusted in real time according to the current load; when the load is increased, the upper limit and the lower limit of the target rotating speed are increased; and when the load is reduced, the upper and lower limits of the target rotating speed are reduced. The control logic after the load feedback link is added specifically refers to: collecting the current turbine rotating speed n and a physical quantity I representing the current load, and correcting the current nH and nL values according to the I; when n is higher than nH, closing the valve; opening the valve when n is lower than nL; and n is between the two, and the original valve control instruction is maintained.
Compared with the prior art, the invention has the beneficial effects that:
(1) The turbine output power automatically adapts to the load demand, and because the ultra-high speed turbine rotor system has flywheel energy storage property when in operation, the system does not need to additionally arrange a device for storing and consuming redundant output energy or compensating peak power, or greatly reduces the requirements on the devices.
(2) The rotating speed is always kept near the set value when the turbine works, so that overspeed risks are avoided.
(3) According to the invention, through reasonable rotation speed setting, the turbine can always work at an optimal efficiency point, and the utilization rate of the system to primary energy sources is improved.
Drawings
FIG. 1 is a schematic diagram of the system composition structure of the present invention;
FIG. 2 is a schematic diagram of the control principle of the present invention;
FIG. 3 is a flow chart of a control procedure of the present invention;
FIG. 4 is a timing chart of control command versus rotational speed during control in accordance with the present invention;
FIG. 5 is a schematic diagram of the system structure of the improved scheme of the invention;
FIG. 6 is a schematic diagram of the control principle of the improved scheme of the invention;
fig. 7 is a flowchart of a control procedure of the modification of the present invention.
Detailed Description
The following describes in further detail the embodiments of the present invention with reference to the accompanying drawings.
The ultra-high speed turbine is driven by a gas medium and accelerates or decelerates under the combined action of driving moment, load moment and internal loss moment. Therefore, the core essence of implementing load adaptive steady speed control for ultra-high speed turbines is turbine intake air flow control based on a feedback closed loop of some control amount.
The basic control principle is shown in fig. 2. The turbine rotational speed is used as a control feedback variable, and based on the gas high-speed switching valve, the control is implemented on turbine air intake: the valve is opened when the turbine speed is lower than the low threshold value, and is closed when the turbine speed is higher than the high threshold value.
According to the invention, the high-speed switch valve is arranged at the air inlet of the turbine, a closed-loop control loop of a 'rotational speed sampling-controller-switch valve' is built, and under the conditions that the air source power is enough, the control time delay and the response time delay parameters of the switch valve meet the requirements, the control of equivalent PWM (pulse width modulation) on the air inlet flow can be realized, so that the output power of the turbine is automatically adapted to the load requirement.
As shown in fig. 1, the self-adaptive speed stabilizing control system for the ultra-high speed turbine load provided by the invention consists of a rotating speed acquisition and signal conversion device 1, a controller 2 and a high-speed switch valve 3. The rotating speed acquisition and signal conversion device 1, the controller 2 and the high-speed switch valve 3 form a closed-loop control loop.
The control principle of the self-adaptive steady speed control of the ultra-high speed turbine load is shown in fig. 2, the turbine rotating speed is used as a control feedback variable, the current rotating speed is collected in real time and is compared with the target rotating speed, and a control instruction for the high speed switch valve is output according to the comparison result.
The turbine inlet is provided with a high-speed switch valve 3, the real-time rotation speed of the turbine is collected through the rotation speed collection and signal conversion device 1 and is used as a control feedback variable, the control feedback variable is provided for the controller 2, the controller 2 compares the real-time rotation speed of the turbine with a preset target rotation speed, and a control instruction for the high-speed switch valve 3 is output according to a comparison result, so that the control of the inlet air flow is realized, and the output power of the turbine is automatically adapted to the load requirement.
A specific program flow of the ultra-high speed turbine load adaptive control is shown in fig. 3. The target rotation speed is set to a rotation speed section near the rated rotation speed n0, and the section boundaries are a control target rotation speed lower limit nL and a control target rotation speed upper limit nH, respectively. When the system starts to work, the high-speed switch valve is firstly opened (at the moment, the turbine rotor system starts to rise from zero), and then in each control period, the control command of the switch valve is output according to the following logic: and collecting the current turbine rotating speed n, closing the valve when the current turbine rotating speed n is higher than nH, opening the valve when the current turbine rotating speed n is lower than nL, and maintaining the original valve control command when the current turbine rotating speed n is between the current turbine rotating speed n and the current turbine rotating speed n (namely the current rotating speed is in the target rotating speed range).
According to the control principle and the control program, the time sequence of the control command corresponding to the rotating speed in the self-adaptive control process of the ultra-high speed turbine load is shown in fig. 4.
The control command curve output by the ideal controller is denoted by L1, and the actual command curve L2 will be shifted to the right by τa with respect to L1 because the control delay τa is unavoidable for the actual controller. Similarly, the switching valve has response time delay to the control command, and most of the switching valve closing time delay tau b1 and the switching valve opening time delay tau b2 are inconsistent (but generally have smaller difference) due to the characteristics of the working principle. The above-mentioned various time delays can lead to the phenomenon of overshoot of the rotational speed. Specifically, in the process of increasing the speed, after the rotating speed exceeds the upper limit of the target rotating speed, the rotating speed is continuously increased within the time range of the sum of the control time delay tau a and the valve closing time delay tau b1, and the value of the increase is the overshoot delta nH of the rotating speed; in the speed reduction process, after the rotating speed is lower than the upper limit of the target rotating speed, the rotating speed is continuously reduced within the time range of the sum of the control time delay tau a and the valve opening time delay tau b2, and the value of the part of the reduction is the overshoot delta nL of the rotating speed.
During the rise or fall of the rotational speed, the rotational speed change rate depends on the difference between the current driving power (the power of the gas source driving the turbine) and the load power (the power of the load acting on the turbine), and the specific principle is as follows.
Based on the basic principle of turbine operation, for the load self-adaptive steady speed control process, there is the following approximate mathematical model:
P(t)＝u(t-τ b )P 0 -L(t)-T f (4)
the physical meaning of the symbols involved in the above formulas and the related description are shown in the following table.
Table 1 parameters related to mathematical model
From the above principle and mathematical model, it is known that when the target rotation speed upper and lower limits are set to fixed values, it will occur that: the turbine speed will be over-regulated by an amount Δnh under light load conditions, and under heavy load conditions by an amount Δnl, which is higher than under loaded conditions. According to this feature, in order to further improve the control performance, the rotational speed fluctuation range is reduced.
The following improvements are presented on the basis of the above scheme. The control system structure under the improvement scheme is shown in fig. 5, and a load feedback link is added for correcting the rotating speed control target. I.e. the upper and lower limits of the turbine target rotational speed are no longer fixed values but are adjusted in real time according to the current load size.
The adjusting method comprises the following steps: when the load is increased, the upper limit and the lower limit of the target rotating speed are increased; and when the load is reduced, the upper and lower limits of the target rotating speed are reduced. The corrected target rotation speed upper and lower limit values may be specifically determined using an appropriate function or a predefined lookup table when the control program is programmed.
The control principle is shown in fig. 6, and the control program flow is shown in fig. 7.
When the turbine power device outputs power to the load device, an acquisition point is arranged in front of the load device, and a load signal of the acquisition point is acquired through the acquisition module, wherein the load signal represents the current load.
After the load feedback link is added, the initial target rotating speed is set to be a rotating speed interval near the rated rotating speed n0, and the interval boundaries are a control target rotating speed lower limit nL and a control target rotating speed upper limit nH respectively; when the system starts to work, the high-speed switch valve is firstly opened, at the moment, the turbine rotor rises from zero, and then in each control period, a control command of the high-speed switch valve is output according to the following logic: collecting the current turbine rotating speed n and a certain physical quantity I representing the current load, and correcting the current nH and nL values according to the I; when n is higher than nH, closing the valve; opening the valve when n is lower than nL; and n is between the two, and the original valve control instruction is maintained.
Furthermore, the invention also provides a self-adaptive steady speed control method for the load of the ultra-high speed turbine, which comprises the following steps:
step one: a load feedback link is added in a closed-loop control loop formed by the rotating speed acquisition and signal conversion device, the controller and the high-speed switch valve and is used for correcting a rotating speed control target;
step two: when the turbine power device outputs power to the load device, an acquisition point is arranged in front of the load device, and a load signal of the acquisition point is acquired through an acquisition module, wherein the load signal represents the current load;
step three: setting an initial target rotating speed: the initial target rotating speed is a rotating speed interval near the rated rotating speed n0, and the interval boundaries are a control target rotating speed lower limit nL and a control target rotating speed upper limit nH respectively;
step four: when the system starts to work, the high-speed switch valve is firstly opened, at the moment, the turbine rotor starts to rise from zero, then in each control period, a control command of the high-speed switch valve is output according to the control logic after the load feedback link is added, and the self-adaptive speed stabilizing control of the ultra-high-speed turbine load is realized.
According to the invention, the high-speed switch valve is arranged at the air inlet of the turbine, a closed-loop control loop of a 'rotational speed sampling-controller-switch valve' is built, and under the conditions that the air source power is enough, the control time delay and the response time delay parameters of the switch valve meet the requirements, the control of equivalent PWM (pulse width modulation) on the air inlet flow can be realized, so that the output power of the turbine is automatically adapted to the load requirement.
The foregoing examples are set forth in order to provide a more thorough description of the present invention, and are not intended to limit the scope of the invention, as various modifications to the invention will become apparent to those skilled in the art upon reading the present disclosure, and are intended to fall within the scope of the present application as defined in the appended claims.
The invention is not described in detail in the field of technical personnel common knowledge.
Claims (9)
1. An ultra-high speed turbine load self-adaptive steady speed control system is characterized by comprising: the device comprises a rotating speed acquisition and signal conversion device (1), a controller (2) and a high-speed switch valve (3);
a high-speed switch valve (3) is arranged at an air inlet of the turbine, the real-time rotating speed of the turbine is collected through a rotating speed collection and signal conversion device (1) and is used as a control feedback variable and is provided for a controller (2), the controller (2) compares the real-time rotating speed of the turbine with a preset target rotating speed, and a control instruction for the high-speed switch valve (3) is output according to a comparison result, so that the air inlet flow is controlled, and the output power of the turbine is automatically adapted to the load requirement;
the target rotational speed is set to a rotational speed section near the rated rotational speed n0, the section boundaries being a control target rotational speed lower limit nL and a control target rotational speed upper limit nH, respectively; when the system starts to work, the high-speed switch valve is firstly opened, at the moment, the turbine rotor rises from zero, and then in each control period, a control command of the high-speed switch valve is output according to the following logic: collecting the current turbine rotation speed n, closing the valve when n is higher than nH; opening the valve when n is lower than nL; and when n is between the two, namely the current rotating speed is within the target rotating speed range, maintaining the original valve control instruction.
2. The ultra-high speed turbine load adaptive steady speed control system of claim 1, wherein: the rotating speed acquisition and signal conversion device (1), the controller (2) and the high-speed switch valve (3) form a closed-loop control circuit.
3. The ultra-high speed turbine load adaptive steady speed control system of claim 1, wherein: in the speed increasing process, after the rotating speed exceeds the target rotating speed upper limit, the rotating speed is continuously increased within the time range of the sum of the control time delay tau a and the valve closing time delay tau b1, and the rising numerical value of the part is the rotating speed overshoot delta nH; in the speed reduction process, after the rotating speed is lower than the upper limit of the target rotating speed, the rotating speed is continuously reduced within the time range of the sum of the control time delay tau a and the valve opening time delay tau b2, and the value of the part of the reduction is the overshoot delta nL of the rotating speed.
4. The ultra-high speed turbine load adaptive steady speed control system of claim 1, wherein: and adding a load feedback link for correcting the rotating speed control target: the upper limit and the lower limit of the target rotating speed of the turbine are not fixed values any more, but are adjusted in real time according to the current load; the adjusting method specifically comprises the following steps: when the load is increased, the upper limit and the lower limit of the target rotating speed are increased; and when the load is reduced, the upper and lower limits of the target rotating speed are reduced.
5. The ultra-high speed turbine load adaptive steady speed control system of claim 4, wherein: when the turbine power device outputs power to the load device, an acquisition point is arranged in front of the load device, and a load signal of the acquisition point is acquired through the acquisition module, wherein the load signal represents the current load.
6. The ultra-high speed turbine load adaptive steady speed control system of claim 5, wherein: after the load feedback link is added, the initial target rotating speed is set to be a rotating speed interval near the rated rotating speed n0, and the interval boundaries are a control target rotating speed lower limit nL and a control target rotating speed upper limit nH respectively; when the system starts to work, the high-speed switch valve is firstly opened, at the moment, the turbine rotor rises from zero, and then in each control period, a control command of the high-speed switch valve is output according to the following logic: collecting the current turbine rotating speed n and a certain physical quantity I representing the current load, and correcting the current nH and nL values according to the I; when n is higher than nH, closing the valve; opening the valve when n is lower than nL; and n is between the two, and the original valve control instruction is maintained.
7. A method for controlling the self-adaptive steady speed of the load of the ultra-high speed turbine based on the self-adaptive steady speed control system of the load of the ultra-high speed turbine according to claim 4, which is characterized by comprising the following steps:
step one: a load feedback link is added in a closed-loop control loop formed by the rotating speed acquisition and signal conversion device, the controller and the high-speed switch valve and is used for correcting a rotating speed control target;
step two: when the turbine power device outputs power to the load device, an acquisition point is arranged in front of the load device, and a load signal of the acquisition point is acquired through an acquisition module, wherein the load signal represents the current load;
step three: setting an initial target rotating speed: the initial target rotating speed is a rotating speed interval near the rated rotating speed n0, and the interval boundaries are a control target rotating speed lower limit nL and a control target rotating speed upper limit nH respectively;
step four: when the system starts to work, the high-speed switch valve is firstly opened, at the moment, the turbine rotor starts to rise from zero, then in each control period, a control command of the high-speed switch valve is output according to the control logic after the load feedback link is added, and the self-adaptive speed stabilizing control of the ultra-high-speed turbine load is realized.
8. The ultra-high speed turbine load adaptive steady speed control method according to claim 7, characterized in that: the load feedback link, namely the upper limit and the lower limit of the target rotating speed of the turbine, are added and adjusted in real time according to the current load; when the load is increased, the upper limit and the lower limit of the target rotating speed are increased; and when the load is reduced, the upper and lower limits of the target rotating speed are reduced.
9. The ultra-high speed turbine load adaptive steady speed control method according to claim 8, characterized in that: the control logic after the load feedback link is added specifically refers to: collecting the current turbine rotating speed n and a physical quantity I representing the current load, and correcting the current nH and nL values according to the I; when n is higher than nH, closing the valve; opening the valve when n is lower than nL; and n is between the two, and the original valve control instruction is maintained.
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